抄録
Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.
| 元の言語 | English |
|---|---|
| ページ（範囲） | 244-252 |
| ページ数 | 9 |
| ジャーナル | International Journal of Mechatronics and Automation |
| 巻 | 1 |
| 発行部数 | 3-4 |
| DOI | |
| 出版物ステータス | Published - 2011 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Computational Mathematics
- Computational Mechanics
これを引用
A novel direction control method for walking support with an omnidirectional walker. / Jiang, Yinlai; Wang, Shuoyu; Ishida, Kenji; Ando, Takeshi; Fujie, Masakatsu G.
：: International Journal of Mechatronics and Automation, 巻 1, 番号 3-4, 2011, p. 244-252.研究成果: Article
}
TY - JOUR
T1 - A novel direction control method for walking support with an omnidirectional walker
AU - Jiang, Yinlai
AU - Wang, Shuoyu
AU - Ishida, Kenji
AU - Ando, Takeshi
AU - Fujie, Masakatsu G.
PY - 2011
Y1 - 2011
N2 - Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.
AB - Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.
KW - directional intention identification
KW - distance-type fuzzy reasoning method
KW - human robot interaction
KW - ODW
KW - omnidirectional walker
KW - walking support
UR - http://www.scopus.com/inward/record.url?scp=84876475395&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84876475395&partnerID=8YFLogxK
U2 - 10.1504/IJMA.2011.045257
DO - 10.1504/IJMA.2011.045257
M3 - Article
AN - SCOPUS:84876475395
VL - 1
SP - 244
EP - 252
JO - International Journal of Mechatronics and Automation
JF - International Journal of Mechatronics and Automation
SN - 2045-1059
IS - 3-4
ER -